2026-04-13T06:33:49Zhttps://recercat.cat/oai/request

oai:recercat.cat:10256/132032024-05-22T09:49:20Zcom_2072_452955com_2072_2054col_2072_452957

I-AUV Mechatronics Integration for the TRIDENT FP7 Project Ribas Romagós, David Ridao Rodríguez, Pere Turetta, Alessio Melchiorri, Claudio Palli, Gianluca Fernández, José Javier Sanz, Pedro José Vehicles submergibles Submersibles Robots autònoms Autonomous robots Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials This work was supported by the TRIDENT EU FP7 Project under Grant ICT-248497 and the Spanish Project DPI2011-27977-C03v (TRITON) 2024-05-22T09:49:20Z 2024-05-22T09:49:20Z 2024-05-22T09:49:20Z info:eu-repo/date/embargoEnd/2026-01-01 info:eu-repo/date/embargoEnd/2026-01-01 2015-10-01 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://hdl.handle.net/10256/13203 info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2015.2395413 info:eu-repo/semantics/altIdentifier/issn/1083-4435 info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/ info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT Tots els drets reservats info:eu-repo/semantics/embargoedAccess Institute of Electrical and Electronics Engineers (IEEE) © IEEE/ASME Transactions on Mechatronics, 2015, vol. 20, núm. 5, p. 2583-2592 Articles publicats (D-ATC)